/* WayTrace project page. Colour roles follow the paper: route blue, driven path yellow, command orange, trace magenta. */
:root {
  color-scheme: light;
  --bg: #ffffff; --soft: #f6f6f4; --line: #e4e3de; --ink: #17181b; --ink2: #52514e; --muted: #898781;
  --route: #1f9bd7; --driven: #f2c230; --cmd: #d9731f; --trace: #c2399f; --robot: #e5383b; --ok: #1f9d55;
  --grid: #e1e0d9; --axis: #c3c2b7; --base: #a6a9b0; --base2: #6f747c;
  --con-bg: #0d141c; --con-panel: #131d28; --con-panel2: #182533; --con-line: #24364a; --con-ink: #e6edf3; --con-muted: #8aa0b4;
  --sans: "Inter", system-ui, -apple-system, "Segoe UI", sans-serif; --mono: "JetBrains Mono", ui-monospace, monospace;
}
* { box-sizing: border-box; }
html { scroll-behavior: smooth; scroll-padding-top: 64px; }
body { margin: 0; background: var(--bg); color: var(--ink); font: 16px/1.65 var(--sans); }
a { color: inherit; }
img, video { max-width: 100%; }
.col { max-width: 980px; margin: 0 auto; padding-left: 16px; padding-right: 16px; }
.wide { max-width: 1240px; margin: 0 auto; padding-left: 16px; padding-right: 16px; }
section { padding-top: 136px; }
h2 { font-size: clamp(26px, 3.2vw, 34px); line-height: 1.2; margin: 0 0 8px; text-align: center; letter-spacing: -0.01em; }
h3 { font-size: 20px; margin: 40px 0 6px; }
.sub { text-align: center; color: var(--ink2); max-width: 760px; margin: 0 auto 40px; }
.kicker { font: 600 12px/1 var(--sans); letter-spacing: .12em; text-transform: uppercase; color: var(--muted); text-align: center; margin-bottom: 10px; }

/* hero: ride-along clip */
.hero { position: relative; height: min(92vh, 860px); min-height: 520px; overflow: hidden; color: #fff; background: #111; }
.hero video { position: absolute; inset: 0; width: 100%; height: 100%; object-fit: cover; }
.hero::after { content: ""; position: absolute; inset: 0; background: linear-gradient(180deg, rgba(0,0,0,.25), rgba(0,0,0,.05) 35%, rgba(0,0,0,.78)); }
.hero .copy { position: absolute; z-index: 2; left: 0; right: 0; bottom: 7vh; max-width: 1240px; margin: 0 auto; padding: 0 16px; }
.hero h1 { font-size: clamp(48px, 9vw, 112px); line-height: .95; margin: 0; letter-spacing: -0.03em; }
.hero h1 span { color: #fff; }
.hero .title2 { font-size: clamp(18px, 2.3vw, 26px); max-width: 820px; margin: 12px 0 6px; }
.hero .authors { opacity: .85; font-size: 15px; margin-bottom: 16px; white-space: pre-line; line-height: 1.6; }
.btns { display: flex; flex-wrap: wrap; gap: 8px; }
.btns a, .btns span { display: inline-flex; align-items: center; gap: 7px; text-decoration: none; padding: 8px 16px;
  border-radius: 999px; font-size: 14px; font-weight: 500; color: #fff;
  background: rgba(255,255,255,.14); border: 1px solid rgba(255,255,255,.4); backdrop-filter: blur(6px); }
.btns a:hover { background: rgba(255,255,255,.3); }
.btns svg { flex: none; }
.btns .ghost { background: transparent; }
.btns .soon { opacity: .62; cursor: default; }
.btns .soon small { font-size: 11px; font-weight: 500; opacity: .85; padding: 1px 7px; border-radius: 999px;
  background: rgba(255,255,255,.16); }
.scrollhint { position: absolute; z-index: 2; bottom: 14px; left: 50%; transform: translateX(-50%); font-size: 12px; opacity: .7; }

/* sticky nav */
nav.top { position: sticky; top: 0; z-index: 30; background: rgba(255,255,255,.9); backdrop-filter: blur(10px); border-bottom: 1px solid var(--line); }
nav.top .in { max-width: 1240px; margin: 0 auto; padding: 10px 16px; display: flex; gap: 20px; align-items: center; overflow-x: auto; white-space: nowrap; }
nav.top b { font-size: 16px; }
nav.top a { text-decoration: none; color: var(--ink2); font-size: 14px; } nav.top a:hover { color: var(--ink); }

/* highlight video, tldr, abstract */
.video-frame { position: relative; border-radius: 12px; overflow: hidden; background: #000; }
.video-frame video { display: block; width: 100%; }
.video-frame .ph { position: absolute; left: 12px; top: 12px; font: 600 12px var(--sans); color: #fff; background: rgba(0,0,0,.6); padding: 5px 10px; border-radius: 6px; }
.tldr { font-size: clamp(18px, 2vw, 21px); line-height: 1.5; text-align: center; max-width: 860px; margin: 28px auto 0; }
.tldr b { color: var(--ink); }
.abstract { text-align: justify; color: var(--ink2); }

/* mission console (dark): mission tabs on top, then the player and a chapter list of the same height */
.console { background: var(--con-bg); color: var(--con-ink); border-radius: 16px; padding: 14px; display: grid; gap: 14px; }
.cpanel { background: var(--con-panel); border: 1px solid var(--con-line); border-radius: 10px; }
.msel { display: grid; grid-template-columns: repeat(4, minmax(0, 1fr)); gap: 10px; }
.msel button { all: unset; cursor: pointer; display: grid; grid-template-columns: 88px minmax(0, 1fr); gap: 10px; align-items: center;
  padding: 6px; border-radius: 10px; background: var(--con-panel); border: 1px solid var(--con-line); }
.msel button img { width: 88px; aspect-ratio: 4/3; object-fit: cover; border-radius: 6px; display: block; filter: saturate(.6) brightness(.7); transition: filter .2s; }
.msel button > div { min-width: 0; }
.msel button b { display: block; font-size: 15px; }
.msel button small { display: block; font: 12px var(--mono); color: var(--con-muted); }
.msel button.on { border-color: #fff; background: var(--con-panel2); } .msel button.on img, .msel button:hover img { filter: none; }
.msel button:focus-visible { outline: 2px solid #fff; }
.cbody { display: grid; grid-template-columns: minmax(0, 1fr) 320px; gap: 14px; }
.cplayer { overflow: hidden; }
.cplayer video { width: 100%; display: block; aspect-ratio: 16/9; background: #000; }
.tl { position: relative; height: 44px; margin: 8px 14px 2px; }
.tl .track { position: absolute; left: 0; right: 0; top: 19px; height: 6px; background: var(--con-panel2); border-radius: 3px; cursor: pointer; }
.tl .fill { position: absolute; left: 0; top: 19px; height: 6px; background: var(--driven); border-radius: 3px; pointer-events: none; }
.tl .mk { position: absolute; top: 6px; width: 16px; height: 32px; margin-left: -8px; cursor: pointer; color: var(--cmd); }
.tl .mk::after { content: ""; position: absolute; left: 6px; top: 7px; width: 4px; height: 18px; border-radius: 2px; background: currentColor; }
.tl .mk:hover::before { content: attr(data-label); position: absolute; bottom: 34px; left: 50%; transform: translateX(-50%); white-space: nowrap;
  background: #000; color: #fff; padding: 3px 8px; border-radius: 5px; font-size: 12px; }
.cfoot { display: flex; justify-content: space-between; gap: 8px 24px; flex-wrap: wrap; padding: 0 14px 12px; }
.legend { display: flex; gap: 14px; font-size: 12px; color: var(--con-muted); flex-wrap: wrap; }
.legend span::before { content: ""; display: inline-block; width: 9px; height: 9px; border-radius: 2px; margin-right: 6px; background: var(--c); }
.meta { font-size: 13px; color: var(--con-muted); }
.meta b { color: var(--con-ink); font: 600 13px var(--mono); }
.chapters { position: relative; min-height: 0; }
.chapters h4 { margin: 0; padding: 11px 14px; font-size: 11px; letter-spacing: .1em; text-transform: uppercase; color: var(--con-muted); border-bottom: 1px solid var(--con-line); }
.chapters .scroll { position: absolute; inset: 40px 0 0 0; overflow-y: auto; }
.ch { display: grid; grid-template-columns: 42px minmax(0, 1fr); gap: 8px; padding: 8px 14px; cursor: pointer; border-left: 3px solid transparent; font-size: 14px; line-height: 1.4; }
.ch:hover { background: var(--con-panel2); } .ch.on { background: var(--con-panel2); border-left-color: var(--c); }
.ch .ts { font: 12px var(--mono); color: var(--con-muted); padding-top: 2px; }
.ch small { display: block; color: var(--con-muted); }

/* moments */
.chips { display: flex; gap: 8px; flex-wrap: wrap; justify-content: center; margin-bottom: 18px; }
.chip { all: unset; cursor: pointer; padding: 6px 14px; border-radius: 999px; border: 1px solid var(--line); font-size: 14px; background: #fff; }
.chip span { color: var(--muted); font-size: 12px; margin-left: 3px; }
.chip.mix::before, .chip.on::before { content: "↻ "; }
.chip.on { background: var(--ink); color: #fff; border-color: var(--ink); } .chip.on span { color: #bbb; }
.chip:focus-visible { outline: 2px solid var(--trace); outline-offset: 2px; }
.mgrid { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 22px; max-width: 1040px; margin: 0 auto; }
.moment { background: var(--soft); border-radius: 12px; overflow: hidden; }
.moment video { width: 100%; aspect-ratio: 16/9; object-fit: cover; display: block; background: #000; cursor: zoom-in; }
.moment div { padding: 12px 16px 16px; font-size: 15px; line-height: 1.5; color: var(--ink2); overflow-wrap: anywhere; }
.moment b { display: block; color: var(--ink); font-size: 17px; }
.moment .cmd { display: block; font: 13px var(--mono); color: #a8520e; margin-top: 4px; }
.moment .tag { font: 600 11px var(--sans); letter-spacing: .06em; text-transform: uppercase; color: var(--muted); }
.moment.failure .tag { color: var(--robot); }

/* modal player */
.modal { position: fixed; inset: 0; background: rgba(8,8,10,.92); display: none; align-items: center; justify-content: center; z-index: 60; padding: 16px; }
.modal.on { display: flex; }
.modal video { width: min(1400px, 100%); max-height: 88vh; border-radius: 10px; }
.modal button { position: absolute; top: 12px; right: 18px; font: 30px var(--sans); background: none; border: 0; color: #fff; cursor: pointer; }

/* method figures */
figure { margin: 0; }
figure img { width: 100%; display: block; border-radius: 6px; }
figcaption { color: var(--ink2); font-size: 14px; margin-top: 8px; }

/* HF demo */
.demo { display: grid; grid-template-columns: 1.1fr 1fr; gap: 28px; align-items: center; background: var(--soft); border-radius: 16px; padding: 26px; }
.demo .steps { margin: 0; padding-left: 20px; color: var(--ink2); }
.demo .soon { display: inline-block; margin-top: 14px; padding: 9px 18px; border-radius: 999px; background: var(--ink); color: #fff; text-decoration: none; font-size: 14px; }
.demo .soon[aria-disabled="true"] { opacity: .55; pointer-events: none; }
.demo iframe { width: 100%; height: 720px; border: 0; border-radius: 12px; grid-column: 1 / -1; }

pre.bib { background: var(--soft); padding: 16px; border-radius: 10px; overflow-x: auto; font: 13px/1.5 var(--mono); }
footer { text-align: center; color: var(--muted); font-size: 13px; padding: 56px 16px 64px; }

@media (max-width: 980px) {
  section { padding-top: 96px; }
  .msel { grid-template-columns: repeat(2, minmax(0, 1fr)); }
  .msel button { grid-template-columns: minmax(0, 1fr); }
  .msel button img { width: 100%; aspect-ratio: 16/9; }
  .cbody { grid-template-columns: minmax(0, 1fr); }
  .chapters .scroll { position: static; max-height: 320px; }
  .demo { grid-template-columns: minmax(0, 1fr); padding: 18px; }
}
@media (max-width: 640px) {
  .mgrid { grid-template-columns: minmax(0, 1fr); }
}